Merge pull request #9 from epics-motor/better-examples

Improved the simulated motor examples
epics-motor · Apr 14, 2023 · 24e4268 · 24e4268
2 parents 4eba04d + ed03e61
commit 24e4268
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Showing 12 changed files with 104 additions and 28 deletions.
diff --git a/.gitignore b/.gitignore
@@ -7,6 +7,7 @@ db/
 dbd/
 html/
 include/
+/iocsh/
 lib/
 templates/
 cdCommands

diff --git a/iocs/motorSimIOC/iocBoot/iocMotorSim/Makefile b/iocs/motorSimIOC/iocBoot/iocMotorSim/Makefile
@@ -1,8 +1,8 @@
 TOP = ../..
 include $(TOP)/configure/CONFIG
-ARCH = linux-x86_64
+#ARCH = linux-x86_64
 #ARCH = vxWorks-ppc32
-#ARCH = $(EPICS_HOST_ARCH)
+ARCH = $(EPICS_HOST_ARCH)
 TARGETS = cdCommands
 TARGETS += envPaths
 include $(TOP)/configure/RULES.ioc

diff --git a/iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.cmd b/iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.cmd
@@ -0,0 +1,15 @@
+dbLoadTemplate("motorSim.substitutions")
+
+motorSimCreateController("motorSim1", 8)
+#asynSetTraceIOMask("motorSim1", 0, HEX)
+#asynSetTraceMask("motorSim1", 0, ERROR|FLOW|DRIVER)
+
+# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
+motorSimConfigAxis("motorSim1", 0, 20000, -20000,  500, 0)
+motorSimConfigAxis("motorSim1", 1, 20000, -20000, 1500, 0)
+motorSimConfigAxis("motorSim1", 2, 20000, -20000, 2500, 0)
+motorSimConfigAxis("motorSim1", 3, 20000, -20000, 3000, 0)
+motorSimConfigAxis("motorSim1", 4, 20000, -20000,  500, 0)
+motorSimConfigAxis("motorSim1", 5, 20000, -20000, 1500, 0)
+motorSimConfigAxis("motorSim1", 6, 20000, -20000, 2500, 0)
+motorSimConfigAxis("motorSim1", 7, 20000, -20000, 3000, 0)
diff --git a/iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.iocsh b/iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.iocsh
@@ -0,0 +1,2 @@
+# Load 8 simulated motors with default settings
+iocshLoad("$(MOTOR_MOTORSIM)/iocsh/motorSim8x.iocsh", "PREFIX=IOC:,INSTANCE=motorSim,SUB=$(MOTOR_MOTORSIM)/iocsh/EXAMPLE_motorSim8x.substitutions")
diff --git a/...C/iocBoot/iocMotorSim/motor.substitutions → ...ocBoot/iocMotorSim/motorSim.substitutions b/...C/iocBoot/iocMotorSim/motor.substitutions → ...ocBoot/iocMotorSim/motorSim.substitutions
diff --git a/iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd b/iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd
@@ -6,26 +6,15 @@
 dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
 motorSim_registerRecordDeviceDriver(pdbbase)
 
-dbLoadTemplate("motor.substitutions")
-
-motorSimCreateController("motorSim1", 8)
-#asynSetTraceIOMask("motorSim1", 0, HEX)
-#asynSetTraceMask("motorSim1", 0, ERROR|FLOW|DRIVER)
-
-# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
-motorSimConfigAxis("motorSim1", 0, 20000, -20000,  500, 0)
-motorSimConfigAxis("motorSim1", 1, 20000, -20000, 1500, 0)
-motorSimConfigAxis("motorSim1", 2, 20000, -20000, 2500, 0)
-motorSimConfigAxis("motorSim1", 3, 20000, -20000, 3000, 0)
-motorSimConfigAxis("motorSim1", 4, 20000, -20000,  500, 0)
-motorSimConfigAxis("motorSim1", 5, 20000, -20000, 1500, 0)
-motorSimConfigAxis("motorSim1", 6, 20000, -20000, 2500, 0)
-motorSimConfigAxis("motorSim1", 7, 20000, -20000, 3000, 0)
+# Use a local configuration if axes need individual customization
+< motorSim.cmd
+# Use a default, 8-axis configuration if axes can start with identical settings
+#!< motorSim.iocsh
 
 iocInit
 
 ## motorUtil (allstop & alldone)
-motorUtilInit("motorSim:")
+motorUtilInit("IOC:")
 
 # Boot complete
-
+date
diff --git a/iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.Vx b/iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.Vx
@@ -19,11 +19,15 @@ cd startup
 dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
 WithAsynVx_registerRecordDeviceDriver(pdbbase)
 
-dbLoadTemplate("motor.substitutions")
-
-# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
-motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
-# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
-drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
+# Use a local configuration if axes need individual customization
+< motorSim.cmd
+# Use a default, 8-axis configuration if axes can start with identical settings
+#!< motorSim.iocsh
 
 iocInit
+
+## motorUtil (allstop & alldone)
+motorUtilInit("IOC:")
+
+# Boot complete
+date
diff --git a/motorSimApp/iocsh/EXAMPLE_motorSim.substitutions b/motorSimApp/iocsh/EXAMPLE_motorSim.substitutions
@@ -1,4 +1,6 @@
 file "$(MOTOR)/db/asyn_motor.db"
+# The following line should be used for motor versions greater than 7.2.2 to avoid errors at iocInit
+#!file "$(MOTOR)/db/asyn_motor_model2.db"
 {
 pattern
 {N,  M,      ADDR,  DESC,          EGU,      DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC, INIT}

diff --git a/motorSimApp/iocsh/EXAMPLE_motorSim8x.substitutions b/motorSimApp/iocsh/EXAMPLE_motorSim8x.substitutions
@@ -0,0 +1,13 @@
+file "$(MOTOR)/db/asyn_motor.db"
+{
+pattern
+{N,  M,        ADDR,  DESC,          EGU,      DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC,  INIT}
+{1,  "m$(N)",  0,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{2,  "m$(N)",  1,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{3,  "m$(N)",  2,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{4,  "m$(N)",  3,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{5,  "m$(N)",  4,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{6,  "m$(N)",  5,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{7,  "m$(N)",  6,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+{8,  "m$(N)",  7,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     ""}
+}
diff --git a/motorSimApp/iocsh/Makefile b/motorSimApp/iocsh/Makefile
@@ -2,5 +2,6 @@ TOP = ../..
 include $(TOP)/configure/CONFIG
 
 IOCSH += EXAMPLE_motorSim.substitutions
+IOCSH += EXAMPLE_motorSim8x.substitutions
 
 include $(TOP)/configure/RULES
diff --git a/motorSimApp/iocsh/motorSim.iocsh b/motorSimApp/iocsh/motorSim.iocsh
@@ -15,12 +15,18 @@
 #- NUM_AXES         - Optional: Number of axes on this controller
 #-                    Default: 1
 #-
-#- LOW_LIM          - Optional: Low Limit
+#- LOW_LIM          - Optional: Low Limit (in steps)
 #-                    Default: -32000
 #-
-#- HIGH_LIM         - Optional: High Limit
+#- HIGH_LIM         - Optional: High Limit (in steps)
 #-                    Default: 32000
 #- 
+#- DLLM             - Optional: Motor Record Low Limit (in EGU)
+#-                    Default: -320.0
+#-
+#- DHLM             - Optional: Motor Record High Limit (in EGU)
+#-                    Default: 320.0
+#-
 #- HOME_POS         - Optional: Home position
 #-                    Default: 0
 #- ###################################################
@@ -31,4 +37,4 @@ motorSimCreate($(CONTROLLER=0), 0, $(LOW_LIM=-32000), $(HIGH_LIM=32000), $(HOME_
 # Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
 drvAsynMotorConfigure("$(INSTANCE)$(CONTROLLER=0)", "$(INSTANCE)", $(CONTROLLER=0), $(NUM_AXES=1))
 
-dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim.substitutions)", "P=$(PREFIX), DTYP='asynMotor', PORT=$(INSTANCE)$(CONTROLLER=0), DHLM=$(HIGH_LIM=32000), DLLM=$(LOW_LIM=-32000)")
+dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim.substitutions)", "P=$(PREFIX), DTYP='asynMotor', PORT=$(INSTANCE)$(CONTROLLER=0),DHLM=$(DHLM=320.0),DLLM=$(DLLM=-320.0)")
diff --git a/motorSimApp/iocsh/motorSim8x.iocsh b/motorSimApp/iocsh/motorSim8x.iocsh
@@ -0,0 +1,43 @@
+# ### motorSim8x.iocsh ###
+
+#- ###################################################
+#- PREFIX           - IOC Prefix
+#- INSTANCE         - Instance name, used to create the asyn port name
+#-
+#- SUB              - Optional: Subsitutions file (asyn_motor.db), Macros P, DTYP, PORT, 
+#-                              DHLM, DLLM, and INIT will be predefined.
+#-                    Default: $(MOTOR)/iocsh/EXAMPLE_motorSim8x.substitutions
+#-
+#- LOW_LIM          - Optional: Low Limit (in steps)
+#-                    Default: -32000
+#-
+#- HIGH_LIM         - Optional: High Limit (in steps)
+#-                    Default: 32000
+#- 
+#- DLLM             - Optional: Motor Record Low Limit (in EGU)
+#-                    Default: -320.0
+#-
+#- DHLM             - Optional: Motor Record High Limit (in EGU)
+#-                    Default: 320.0
+#-
+#- HOME_POS         - Optional: Home position
+#-                    Default: 0
+#- ###################################################
+
+# Create simulated motors: (port name, number of axes on card)
+motorSimCreateController("$(INSTANCE)", 8)
+
+#asynSetTraceIOMask("$(INSTANCE)", 0, HEX)
+#asynSetTraceMask("$(INSTANCE)", 0, ERROR|FLOW|DRIVER)
+
+# motorSimConfigAxis(port, axis, highLimit, lowLimit, home, start)
+motorSimConfigAxis("$(INSTANCE)", 0, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 1, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 2, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 3, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 4, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 5, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 6, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+motorSimConfigAxis("$(INSTANCE)", 7, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
+
+dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim8x.substitutions)", "P=$(PREFIX),DTYP='asynMotor',PORT=$(INSTANCE),DHLM=$(DHLM=320.0),DLLM=$(DLLM=-320.0)")